A Multi-modal Robot for Ground and Aerial Locomotion
Name
1130059596-MIT.pdf
Size
5.49 MB
Format
Adobe PDF
Checksum (MD5)
efc81a98d967292c6d6c3fb672774f17
Author(s)
Winston, Crystal(Crystal E.)
Advisor(s)
Douglas Hart.
Date Issued
2019
Publisher
Massachusetts Institute of Technology
Abstract
This thesis describes the design and testing of a quadcopter that capable of both driving and flying. This was achieved by mounting quadcopter motors and propellers to the center of each of the robot's four wheels. The wheels are then capable of changing orientation in order to allow the robot to either drive or fly. Each of these wheels contains a gearing and bearing system that decouples the rotation of the wheels from the rotation of the propellers and also houses the system's landing gear. The prototype described in this thesis is capable of driving on flat surfaces as well as vertical take-off and landing. Further improvements to the system would be required in order for it to perform longer flights, complex aerial maneuvers, drive on uneven surfaces, or carry additional payloads.
Description
Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2019
Cataloged from PDF version of thesis.
Includes bibliographical references (pages 39-40).
Subjects
Mechanical Engineering.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
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